def check_precached(left, right): # check if precached sample is in the view of the left and right images # and return its coordinates if it is xyz = None left_detect = HaarDetector.detect_precached(left) right_detect = HaarDetector.detect_precached(right) if left_detect is not None and right_detect is not None: xyz = calculate_distance(left_detect[0], right_detect[0], left_detect[1], right_detect[1]) rospy.loginfo("Precached:(x,y,z): {0}".format(xyz)) # Debug functionality #cv2.imshow('LEFT', HaarDetector.get_image()) #cv2.imshow('RIGHT', HaarDetector.get_image()) return xyz
def identify_precached(img): return HaarDetector.detect_precached(img)